#!/bin/bash

conf="
numPyramidLevels = 4
maxTestLevel = 0
withNormalization = 1

sigmaPriorToCensusTransform = 0.75
sigmaBitPlanes = 1.6

maxIterations = 100
parameterTolerance = 1e-6
functionTolerance = 1e-6
gradientTolerance = 1e-6

relaxTolerancesForCoarseLevels = 1

lossFunction  = Huber
verbosity     = Silent

minTranslationMagToKeyFrame       = 0.1
minRotationMagToKeyFrame          = 2.5
maxFractionOfGoodPointsToKeyFrame = 0.7

goodPointThreshold = 0.8

DataSet = tsukuba_stereo
DataSetRootDirectory = ~/data/NewTsukubaStereoDataset/
Illumination = fluorescent
DisparityScale = 1.0

StereoAlgorithm = BlockMatching
SADWindowSize = 9
minDisparity = 8
numberOfDisparities = 96
trySmallerWindows = 1
ScaleBy = 1

minValidDisparity = 8.1
maxValidDisparity = 96

Descriptor = BitPlanes
"

conf_fn=$(mktemp)
echo "$conf" > $conf_fn

./bin/vo -c $conf_fn -o tsukuba_bitplanes_9_L2 -n 500 \
  --store-timing --store-iterations -x

